研究CAN网络平台的仿真模型与分析方法

Simulation model and analysis method for CAN platform research

控制器局域网(CAN)是为解决控制器之间的数据交换而开发的一种串行数据通信协议。为了满足控制系统的实时需求,设计CAN网络平台需要着重考虑消息的网络延迟时间。为此,需要建立CAN消息延迟时间分析模型和仿真平台。本文利用周期性固定优先级任务不可剥夺调度模型与CAN网络消息发送过程的相似性,建立起CAN网络的消息排队模型作为仿真模型,实现了一个仿真实验平台,并以THECU四节点CAN网络通信平台为对象,进行仿真实验和平台分析,验证了仿真模型的合理性,讨论了消息生成周期和相位对消息延迟的影响。

Controller Area Network(CAN) is a serial communication protocol developed for data exchange between controllers. To meet real-time standards of control systems, designing a CAN platform requires due consideration of latency of messages. Therefore, it is necessary to build an analysis model and a simulation platform of CAN message latency. In this paper, a CAN message queueing model and a simulation platform are built according to the cyclic,fixed priority tasks nonpreemptively schedule analysis model used i...